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Adding support for Inivation's DVXplorer Micro camera #223

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a023308
create dv-bridge-sdk
jorou125 Jul 25, 2025
c7c0c4c
Create dv-bridge-sdk.cpp
jorou125 Jul 25, 2025
0aa0665
Update README.md
jorou125 Jul 25, 2025
7c9960a
Update Dockerfile_Ubuntu2004
jorou125 Jul 25, 2025
e1d4b9f
Update Dockerfile_Ubuntu2004
jorou125 Jul 25, 2025
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9 changes: 9 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -19,6 +19,8 @@ endif()
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(CMAKE_C_EXTENSIONS OFF)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
option(BUILD_SHARED_LIBS "Build libraries as shared as opposed to static" ON)
set(CONTEXT_DIR event-driven)
set(EVENTDRIVEN_LIBRARY event-driven)
Expand Down Expand Up @@ -68,6 +70,13 @@ if(prophesee_core_FOUND)
message(STATUS "Found prophesee_core: (found version ${prophesee_core_VERSION})")
endif()

find_package(libcaer)
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@mikihiroikura mikihiroikura Oct 30, 2025

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I checked the installation guide for dv-processing.
Is it correct that we need libcaer to use dv-processing?


find_package(dv-processing QUIET)
if(dv-processing_FOUND)
message(STATUS "Found dv-processing: (found version ${dv-processing_VERSION})")
endif()

#build the library


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23 changes: 21 additions & 2 deletions Dockerfile_Ubuntu2004
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Expand Up @@ -5,7 +5,7 @@ ENV DEBIAN_FRONTEND=noninteractive

ARG CODE_DIR=/usr/local/src

#basic environment
# Basic environment
RUN apt update && apt install -y \
ca-certificates \
build-essential \
Expand Down Expand Up @@ -47,6 +47,26 @@ RUN apt install -y \
libopencv-dev \
metavision-sdk

# dv-processing
# Add toolchain PPA and install gcc-13/g++-13
RUN apt update && \
apt install -y software-properties-common && \
add-apt-repository ppa:ubuntu-toolchain-r/test && \
apt update && \
apt install -y gcc-13 g++-13

# Add inivation PPA and install dv-processing dependencies
RUN add-apt-repository ppa:inivation-ppa/inivation && \
apt-get update && \
apt-get install -y \
boost-inivation \
libcaer-dev \
libfmt-dev \
liblz4-dev \
libzstd-dev \
libssl-dev && \
apt-get -y install dv-processing

Comment on lines +50 to +69
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@mikihiroikura mikihiroikura Oct 30, 2025 •
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Thank you for adding dv-processing in Dockerfile.

However, it's important to reduce the docker image size as much as possible by simplifying Dockerfile.
Currently, this Dockerfile contains metavision-sdk and dv-processing, meaning it's redundant.

Therefore, I recommend you to create some Dockerfiles for metavision-sdk and dv-processing separately.
Could you please make them in the following folder structure?

event-driven/
├── docker/
│   ├── Prophesee/
│              ├── Dockerfile_Ubuntu2004
│              └── Dockerfile_Ubuntu2204
│   ├── Inivation
│              ├── Dockerfile_Ubuntu2004
│              └── Dockerfile_Ubuntu2204

# YCM
ARG YCM_VERSION=v0.15.2
RUN cd $CODE_DIR && \
Expand All @@ -68,7 +88,6 @@ RUN cd $CODE_DIR && \
EXPOSE 10000/tcp 10000/udp
RUN yarp check


# event-driven
ARG ED_VERSION=main
RUN cd $CODE_DIR &&\
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1 change: 1 addition & 0 deletions README.md
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Expand Up @@ -41,6 +41,7 @@ Event-driven libraries provide basic functionality for handling events in a YARP
* [**calibration**](https://github.com/robotology/event-driven/tree/ev2-dev/cpp_tools/calibration) - estimating the camera intrinsic parameters
* [**vPreProcess**](https://github.com/robotology/event-driven/tree/ev2-dev/cpp_tools/vPreProcess) - splitting different event-types into separate event-streams, performing filtering, and simple augmentations (flipping etc.)
* [**atis-bridge**](https://github.com/robotology/event-driven/tree/ev2-dev/cpp_tools/atis3-bridge) - bridge between the Prophesee ATIS cameras and YARP
* [**dv-bridge**](https://github.com/robotology/event-driven/tree/ev2-dev/cpp_tools/dv-bridge) - bridge between the Inivation DVXplorer Micro camera and YARP
* [**zynqGrabber**](https://github.com/robotology/event-driven/tree/ev2-dev/cpp_tools/zynqGrabber) - bridge between zynq-based FPGA sensor interface and YARP

## Applications
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5 changes: 5 additions & 0 deletions cpp_tools/CMakeLists.txt
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Expand Up @@ -15,3 +15,8 @@ endif()
if(prophesee_core_FOUND OR MetavisionSDK_FOUND)
add_subdirectory(atis3-bridge)
endif()

if(dv-processing_FOUND)
add_subdirectory(dv-bridge)
endif()

14 changes: 14 additions & 0 deletions cpp_tools/dv-bridge/CMakeLists.txt
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@@ -0,0 +1,14 @@

project(dv-bridge-sdk)

add_executable(${PROJECT_NAME} dv-bridge-sdk.cpp)

target_link_libraries(${PROJECT_NAME} PRIVATE YARP::YARP_OS
YARP::YARP_init
ev::event-driven
dv::processing
dl)

target_compile_definitions(${PROJECT_NAME} PRIVATE $<$<BOOL:${VLIB_ENABLE_TS}>:ENABLE_TS=1>)

install(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_BINDIR})
7 changes: 7 additions & 0 deletions cpp_tools/dv-bridge/README.MD
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@@ -0,0 +1,7 @@
# dv-bridge

A bridge application between Inivation's DVXplorer Micro camera SDK and YARP

### Usage

`dv-bridge-sdk`
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